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Meccanica delle Macchine Automatiche
Mechanics of Automatic Machinery
Luca Carbonari

Seat Ingegneria
A.A. 2015/2016
Credits 9
Hours 72
Period II
Language ENG

Prerequisites
Basics of kinematics and dynamics of mechanical systems

Learning outcomes
The course aims to provide an overview of the most relevant aspects of the mechanics of machines, with particular regard to the components of machines and mechatronic systems. On completion of the course, the students will be able to model these systems and to carry out their analysis through the use of software tools.

Program
1. MECHANICAL MODELS AND SYSTEMS Physical and mathematical models. Engine and load static characteristics (different methods). Linearization of motion equations. Trajectories of linear systems 2. MECHANICAL COMPONENTS Energy transfer and conversion. Joint mechanics: mechanical transmission, direct and indirect power transfer devices. Mechanical regulation devices. 3. ACTUATION SYSTEMS Oleodynamic actuators. Electric actuators. New generation actuators. Micro mechanical components. Coupling between motor and load, sizing of the transmission. 4. CONTROL SYSTEMS Models in state form. Transfer functions. Stability analysis. Basics of control theory. Motion planning. Applications. Control of industrial robots. 5. MECHANICS OF MULTIBODY SYSTEMS Kinematic and static analysis. Dynamic analysis. Industrial and advanced robotics. 6. TOOLS FOR THE ANALYSIS Kind of available tools (symbolic and numerical packages, geometric modellers and multibody simulators). Kinematic and dynamic simulations (direct and inverse dynamics).

Development of the examination
LEARNING EVALUATION METHODS
The level of the student learning will be assessed through two tests: - a presentation and discussion of a project for which the student will be asked to model and analyze a simple mechanical system, defined in agreement with the teacher. - an oral examination, whose object will be the discussion of one or more topics of the course, even through exercises. The project will be carried out in groups of up to 4 people and will be discussed by the simultaneous participation of all students in the group during the oral examination.

LEARNING EVALUATION CRITERIA
Passing the test is subject to demonstration by the student's knowledge of the main contents of the course: methods of modeling and analysis of multibody systems and resolution of dynamic equations, the main mechanical components and their operation. In addition, the student must be able to apply the tools of analysis acquired in the study of simple mechanical systems, showing a sufficient sensitivity in the solution of problems of mechanics and automatics.

LEARNING MEASUREMENT CRITERIA
Attribution of the final mark in thirtieths. The teacher will be able to verify the knowledge and technical skills acquired by the student through the project evaluation. Then the investigation will be competed with a discussion on the topics of the cou

FINAL MARK ALLOCATION CRITERIA
Passing the exam with a minimum mark requires sufficient knowledge about all the topics of the course. The maximum mark requires a good knowledge of the course content as well as an excellent evaluation of the project. The praise is reserved for students who, having done all the tests so correctly, have demonstrated a particular brilliance in the oral presentation.

Recommended reading
• F. Cheli ed E. Pennestrì. Cinematica e Dinamica dei Sistemi Multibody, Casa Editrice Ambrosiana, Milano, 2005. • F.C. Moon. Applied Dynamics, with application to multi-body and mechatronic systems, Wiley, 1998. • R. Nordmann. H. Birkhofer. Elementi

Courses

• Ingegneria Informatica e dell'Automazione (Corso di Laurea Magistrale (DM 270/04))
• Ingegneria Meccanica (Corso di Laurea Magistrale (DM 270/04))